CN106464171B - Control device of electric motor - Google Patents
Control device of electric motor Download PDFInfo
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- CN106464171B CN106464171B CN201480079092.5A CN201480079092A CN106464171B CN 106464171 B CN106464171 B CN 106464171B CN 201480079092 A CN201480079092 A CN 201480079092A CN 106464171 B CN106464171 B CN 106464171B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
- H02P27/085—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/32—Arrangements for controlling wound field motors, e.g. motors with exciter coils
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Microelectronics & Electronic Packaging (AREA)
Abstract
The present invention provides a kind of control device of electric motor, it inhibits the generation of cost increase and noise, and when motor is in egulation rotating speed state below, it still is able to reduce the loss generated by the switch motion of switch element, and the temperature of switch element is inhibited to rise, generate driving force corresponding with driver's operation.The control device of electric motor, when motor (4) are regulation rotation speed or less, according to the operation of the setting of driving method and element loss calculated unit (16), using two-phase modulation driving come driving power conversion equipment (30), when the loss aggregate-value of the biggish first switching element of switching loss and second switch element is more than specified value, switch the switching signal of switching signal generation unit (14) output, to switch the switch motion of switch element.
Description
Technical field
The present invention relates to a kind of control device of electric motor, in particular to a kind of to change function according to the action state of motor
The control device of electric motor of the driving method of rate conversion equipment.
Background technique
In recent years, for the purpose of reducing CO2 emissions and reduce oil consumption, the vehicle of motor and internal combustion engine is carried
That is hybrid vehicle and the electric car that only carrying motor is travelled using the driving force of motor is popularized.It takes
It carries in the vehicle of these motor, in addition to motor, electrical storage device also equipped with output direct current and by electrical storage device
The converting direct-current power into alternating-current power of output and to power conversion device of motor (inverter) etc..
To motor power conversion device for example, by caused by the PWM control using the switch elements such as IGBT
Switch motion is by converting direct-current power into alternating-current power.
Herein, the three-phase modulations driving of the power conversion device for this control device of electric motor and two-phase modulation are driven
It is dynamic to be illustrated.
Figure 13 is the relationship of the phase voltage directive and switching signal when indicating three-phase modulations driving and two-phase modulation driving
Figure.
When generating voltage between lines (A), motor current (B) as shown in fig. 13 that, using in the driving method of three-phase modulations, phase
Voltage such as (C) is shown, and side switch signal is such as shown in (D), and in the driving method using two-phase modulation, phase voltage such as (E) is shown,
Side switch signal is such as shown in (F).
In addition, the period (carrier frequency) of triangular wave is set as same period.
As shown in Figure 13, relative to switch motion is carried out in three-phase modulations driving always, exist in two-phase modulation driving and become
It is less at the switching signal and switch motion of normally opened (or normally closed).
Switch element deposits loss when being lost on startup, connecting loss and starting stopping in switch motion, therefore switchs
It is less to act loss caused by the less power conversion meaned by direct current to alternating current.
But it is high frequency and powerful switch motion that this power by direct current to alternating current, which is converted, therefore by opening
The loss (switching loss) that pass movement generates causes switch element to generate heat, and the temperature of switch element rises.Then, if reaching switch
The ceiling temperature of element then reduces the output power to motor in order to avoid the damage of switch element, that is, reduces switch
Number, to be difficult to the desired power for being used to generate driving force corresponding with the movement of driver being supplied to motor.
The method that output power reduces caused by preventing this temperature because of switch element from rising, that is, prevent motor defeated
The method reduced out has technology documented by patent document 1.
Existing technical literature
Patent document
Patent document 1：Japanese Patent Laid-Open 2011-109803 bulletin
Summary of the invention
Technical problems to be solved by the inivention
A kind of technology of content publicity shown in the patent document 1 detects inverter temperature, will be made according to the detection temperature
Two-phase modulation is switched to by three-phase modulations for the PWM control of Driven by inverter method, and then changes the frequency of carrier signal.So
And in existing apparatus shown in patent document 1, the temperature sensor for detecting inverter temperature is needed, cost increase is caused.This
Outside, there are change carrier signals, thus the problems such as electromagnetic sound that switch motion generates becomes larger, is likely to become noise.
The present invention develops in order to solve the above problem, and its purpose is to provide a kind of control device of electric motor, inhibits
The generation of cost increase and noise, and when motor is in egulation rotating speed state below, it still is able to reduce because of switch
The switch motion of element and the loss generated, and the temperature of switch element is inhibited to rise, generate drive corresponding with driver's operation
Power.
Technical scheme applied to solve the technical problem
Control device of electric motor of the present invention has：DC power supply, the direct current power supply direct current；Power conversion
Device, the power conversion device switch element are constituted, and the switch motion of generated switch element is controlled by PWM, will be described
The converting direct-current power into alternating-current power of DC power supply output and to motor；And control unit, the control unit is to described
The driving of power conversion device is controlled, wherein described control unit has：Rotate angle processing unit, the rotation angle
The electrical angle θ and rotation speed Nm of processing unit operation and output motor；Driving method setting and element loss calculated unit,
Driving method setting and element loss calculated unit use the electrical angle θ for rotating the output of angle processing unit and rotation speed
Nm is spent to set the driving method of the power conversion device, and the damage of each switch element of power conversion device described in operation
Consumption and switching loss aggregate-value；Carrier frequency selecting unit, carrier frequency selecting unit selection is according to by the driving method
Setting and the obtained driving method of element loss calculated unit operation and element loss and the carrier frequency of carrier signal set；
And switching signal generation unit, which sets according to the driving method and element loss calculates list
The information that first, the described carrier frequency selecting unit, the rotation angle processing unit and command voltage provide, generation make institute
The switching signal for stating switch element movement exports the switching signal to the power conversion device, and the motor is regulation
When below rotation speed, according to the operation result of described control unit, driving is modulated using two-phase to drive the power to convert
Device, and the loss of switching loss biggish first switching element and second switch element is calculated, the first switching element
Or the loss aggregate-value of the second switch element switches the switching signal according to the mapping that is previously set when being more than specified value
The switching signal of generation unit output, to switch the switch motion of the switch element.
Invention effect
Control device of electric motor according to the present invention can obtain a kind of control device of electric motor, inhibit cost increase
With the generation of noise, and when motor is egulation rotating speed or less (such as non-rotatable or extremely low fast rotation status), still
It can reduce power loss caused by the switch motion because of switch element and the temperature of switch element inhibited to rise, generate and drive
The corresponding driving force of operation of member.
Above-mentioned or other purpose of the present invention, feature and effect are remembered by the detailed description and accompanying drawings of following implementation
Load will become more apparent.
Detailed description of the invention
Fig. 1 is the overall structure for indicating the control device of electric motor comprising power conversion device of embodiment of the present invention 1
Figure.
Fig. 2 is the functional block diagram being illustrated for the structure and function of the control unit to embodiment of the present invention 1.
Fig. 3 is the flow chart of the control and operation process for the whole device for indicating embodiment of the present invention 1.
Fig. 4 is the stream for indicating the performed operation process handled of the rotation angle processing unit 15 of embodiment of the present invention 1
Cheng Tu.
Fig. 5 is the driving method setting and the performed processing of element loss calculated unit for indicating embodiment of the present invention 1
The flow chart of operation process.
Fig. 6 is the figure of the relationship of the motor phase current of the loss for indicating switch element and motor.
Fig. 7 is to indicate that the loss of the step S205 of Fig. 5 calculates the flow chart of the performed operation process handled of element retrieval.
Fig. 8 is the process for indicating the performed operation process handled of the carrier frequency selecting unit of embodiment of the present invention 1
Figure.
Fig. 9 is the figure of an example of the element loss for indicating embodiment of the present invention 1 and the relationship of carrier frequency.
Figure 10 is the process for indicating the performed operation process handled of the switching signal generation unit of embodiment of the present invention 1
Figure.
Figure 11 is the pass for indicating the switching signal switching when electrical angle θ of embodiment of the present invention 1 and two-phase modulation drive
The mapping of system.
Figure 12 is the timing diagram for indicating the action waveforms in each portion of control device of electric motor of embodiment of the present invention 1.
Figure 13 is the phase voltage directive for indicating common three-phase modulations driving and two-phase modulation driving and the relationship of switching signal
Figure.
Specific embodiment
The embodiment of control device of electric motor of the invention is illustrated referring to the drawings.
Embodiment 1.
Fig. 1 is the overall structure for indicating the control device of electric motor comprising power conversion device of embodiment of the present invention 1
Figure.In Fig. 1,1 is the control unit i.e. motor controlled the driving method etc. of power conversion device of the present invention
Control unit (hereinafter referred to as MCU), 2 be the battery for supplying direct current, and 30 be to be arranged in parallel with battery 2 and export battery 2
The power conversion device (hereinafter referred to as inverter) of converting direct-current power into alternating-current power, 4 be the alternating current exported using inverter 30
It generates driving force and carries out the motor of rotation driving, motor 4 is through not shown power transfer mechanism and vehicle (not shown)
Wheel connection.
In addition, 5 be the angular sensor according to the rotation output signal of motor.
Inverter 30 has：Smoothing capacity device 31, the DC voltage that the smoothing capacity device 31 exports battery 2 are smooth
Change；And voltage sensor 32, the voltage sensor 32 detect the voltage for being input to inverter 30.In addition, as basis
MCU1 output switching signal and act and be converted into the direct current that battery 2 exports to be supplied to opening for the alternating current of motor 4
Element is closed, is opened equipped with U phase side switch element 3Q1, U phase side switch element 3Q2, V phase side switch element 3Q3, V phase downside
Close element 3Q4, W phase side switch element 3Q5 and W phase side switch element 3Q6.
Each switch element 3Q1~3Q6 inverse parallel has diode element 3D1, U phase downside diode element 3D2, V on the upside of U phase
Two poles of diode element 3D4, W phase upside diode element 3D5 and W phase downside on the downside of diode element 3D3, V phase on the upside of phase
Tube elements 3D6.In addition, one end of 3 coils of the U phase of motor 4, V phase, W phase is connect with neutral point, the other end and each phase
The intermediate point of switch element connects.
The specific structure of MCU1 and the details of function are illustrated referring next to the functional block diagram of Fig. 2.
In Fig. 2, firstly, indicating that the accelerator opening amount signal Ac1 of driver actions and brake trample signal Br1 and be input into
Control unit for vehicle (hereinafter referred to as VEH-CU) 100, and have command torque Trrq output.
Instruction current arithmetic element 11 has the command torque Trrq obtained by VEH-CU100 operation and by aftermentioned rotation
The electrical angle θ input that angle processing unit 15 exports carries out d axis, the conversion of q axis, output d axis instruction current I_d and q axis instruction electricity
Flow I_q.
Command voltage arithmetic element 12 is using d axis instruction current I_d and q axis instruction current I_q and utilizes aftermentioned three-phase
Turning two-phase converting unit 18 will test 33, the 34,35 (reference of current sensor of electric current of the U phase, V phase, W phase that flow to motor 4
Output Fig. 1) is converted into electric current obtained from two-phase, operational order voltage.
Two-phase, which turns three-phase inversion unit 13, the instruction electricity obtained by 12 operation of command voltage arithmetic element
It pressure and is set by aftermentioned driving method and the information of the driving method of 16 operation of element loss calculated unit is defeated
Enter, operation U phase, V phase, the phase voltage of W phase.
Switching signal generation unit 14 according to turned by two-phase each phase that 13 operation of three-phase inversion unit obtains phase voltage, with
And the information of the carrier frequency obtained by aftermentioned 17 operation of carrier frequency selecting unit, generate each switch element of inverter 30
The switching signal of 3Q1~3Q6.Switching signal generated is sent to inverter 30, supplies alternating current to motor 4.
Angle processing unit 15 is rotated according to the output signal for the angular sensor 5 that motor 4 is arranged in, operation electricity
The electrical angle θ and rotation speed Nm of motivation 4.
Driving method setting and element loss calculated unit 16 according to rotation angle processing unit 15 export electrical angle θ and
Rotation speed Nm determine inverter 30 driving method, and using detection flow to motor each phase electric current current sense
The current information of device 33,34,35 (referring to Fig.1) output, the element of each switch element 3Q1 to 3Q6 of operation inverter 30
Switching loss and switching loss aggregate-value and normally opened element change flag F 1.To the normally opened element in the explanation of aftermentioned Fig. 5
Change flag F 1 is described in detail.
Carrier frequency selecting unit 17 is according to the driving side set by driving method setting and element loss calculated unit 16
Method, operation carrier frequency.
Three-phase turn two-phase converting unit 18 for will test each phase for flowing to motor 4 electric current current sensor 33,
34,35 output translation operation and is input to command voltage arithmetic element 12 at the electric current of two-phase.
Fig. 3 is the flow chart of the control and operation process for the whole device for indicating embodiment of the present invention 1.It is first in Fig. 3
First, the driving of motor 4 is determined in step S11.The judgement be to motor 4 whether there is or not driving instruction judgement, such as
Determined according to because of the information that brake is trampled and the starting-up actions such as gas pedal tread-on quantity due tos generates.
When step S11 is that no (No) determines, returned without operation.When step S11 is is that (Yes) determines, into step
Rapid S12 executes rotation angle processing unit 15.The details of the rotation angle processing unit 15 are illustrated using aftermentioned Fig. 4.
Then, after entering step S13, driving method setting and element loss calculated unit 16 are executed.Utilize aftermentioned Fig. 5 pairs
The details of driving method setting and element loss calculated unit 16 are illustrated.Then, after entering step S14, carrier wave is executed
This is described in detail using Fig. 8 for frequency setup unit 17.Then, switching signal generation unit 14 is executed in step S15.
The switching signal generation unit 14 is described in detail using Figure 10.
Then aforementioned rotation angle processing unit 15, driving method setting and element loss are calculated using Fig. 4 to Figure 11
Unit 16, carrier frequency selecting unit 17 and switching signal generation unit 14 are illustrated.
Fig. 4 is the flow chart for indicating the operation process of rotation angle processing unit 15 performed by the step S12 of Fig. 3.Fig. 4
In, firstly, determining whether the input from angular sensor 5 in step S101.Have from the defeated of angular sensor 5
Fashionable, step S101 enters step S102, when not inputting, into S109 to be that (Yes) determines.After entering step S102, connect
The direction of rotation of motor 4 is determined.The judgement is for example according to the gear and acceleration transducer of vehicle (not shown)
Information etc. determined.After the direction of rotation judgement for terminating motor 4 in step S102, S103 is entered step, according to step
The direction of rotation of S102 determines that result calculates electrical angle θ.Electrical angle θ is when the judgement of step S102 is to rotate forward to rotation angle
Each input of sensor 5 is calculated plus specified value (such as 0.5 degree), furthermore when the judgement of step S102 is reversion to rotation
Each input of angular transducer 5 subtracts specified value and calculates.
Then, after entering step S104, the electrical angle θ calculated is determined.Firstly, step S104 is to electrical angle θ
Whether determined in rotation angle range.Rotating angle is 1 360 degree of the period, if the electrical angle θ that step S103 is calculated
In 0 (zero) in the range of 360 degree, then step S104 be that (Yes) determines, S105 is entered step, if electrical angle θ is 0
(zero) or 360, then S107 is entered step.After entering step S107, electrical angle θ is set to 360 when being 0 (zero), will when being 360
It is set as 0 (zero), and enters step S105.
After entering step S105, then the rotation speed Nm of motor 4 is determined.Firstly, to rotation in step S105
The previous value of rotary speed Nm is determined.When the judgement of step S105 is is that (Yes) determines, S106 is entered step, rotation is calculated
Speed Nm and return.On the other hand, when step S105 is that no (No) determines, S108 is entered step, rotation speed Nm is set as advising
Fixed fixed value and return.The defined fixed value is set as the micro- of non-zero (zero) according to the direction of rotation determined in step S102
Small value (such as ± 0.1rpm).
Then, step S101 is that no (No) determines, when entering step S109, without the input of angular sensor 5, because
Electrical angle θ is kept previous value by this, enters step S110.After entering step S110, then measuring timer t_c is sentenced
It is fixed.The measuring timer is the timer for measuring the input interval of angular sensor 5, if there is angular sensor 5
Input, then using the input interval of the input time measurement angular sensor 5 of the angular sensor 5 of last time.In addition,
The stipulated time of judgement for step S110 be set as can determine time that the rotation of motor 4 stops (such as
200msec).When step S110 is is that (Yes) determines, without the input of angular sensor 5, but motor 4 can not be sentenced
It is set to rotation to stop, therefore enters step S111, rotation speed Nm is remained into previous value and return.
On the other hand, when step S110 is that no (No) determines, without the input of angular sensor 5, and motor 4 stops
Spin-ended turn, therefore enter step S112, rotation speed Nm is set as 0 (zero) and measuring timer t_c is set as 0 (zero) and is returned
It returns.
Fig. 5 is the process for indicating the setting of driving method performed by the step S13 of Fig. 3 and element loss calculated unit 16
Flow chart.
In Fig. 5, in driving method setting and element loss calculated unit 16, firstly, reading rotation speed in step S201
Nm is spent, S202 is entered step, is compared with specified value α.Specified value α is set as the rotation without carrying out two-phase modulation driving
Speed, such as 50rpm.
When step S202 is that no (No) determines, S216 is entered step, (∑ E_Loss1, ∑ E_ is lost in aftermentioned integral power
Loss2), the clearing of flag F 3 is implemented in normally opened element change flag F 1 and switching, enters step S217, driving method is set
It is returned for three-phase modulations.
On the other hand, step S202 be (Yes) determine when, enter step S203, to rotation speed Nm whether be zero into
Row determines.When step S203 is is that (Yes) determines, S204 is entered step, then the aggregate-value of element loss is determined.
When step S204 is is that (Yes) determines, it is first loss calculation, therefore enter step S205, carries out loss calculating
Element retrieval.Element retrieval is calculated to the loss that step S205 is carried out using aftermentioned Fig. 7 to be described in detail, and is omitted herein.
After entering step S206, read by the circulating in each phase of motor 4 of detecting of current sensor 33,34,35 current value (with
It is known as motor phase current down), enter step S207.
After entering step S207, according to the phase current values that the element of step S205 retrieval and step S206 are read, calculate
The loss of each element.The loss of switch element for inverter 30 can be found out according to motor phase current, such as be had shown in Fig. 6
Relationship.If it is possible to find out the switch element of circulation high current, then switching loss can be calculated.
Step S207 calculate the biggish switch element of loss of first switch loss E_Loss1, that is, normally opened loss and
Second switch loss E_Loss2 is the loss that most elements is lost in the element for carry out switch motion, enters step S208, will
Driving method is set as two-phase modulation and returns.
Then, when step S203 is that no (No) determines, motor 4 is in extremely low fast rotation status, therefore enters step
S213 carries out loss and calculates element retrieval.It is as be described hereinafter that the loss calculates element retrieval.It is same as S206 after entering step S214
Ground reads motor phase current, and the relationship of Fig. 6 is used in step S215, calculates first switch loss E_Loss1 and second switch damage
E_Loss2 is consumed, S209 is entered step.
Step S204 is that no (No) determines that i.e. first element loss calculates when completing or the operation of step S215 terminates
Afterwards, S209 is entered step, set carrier frequency fc is read.The setting of carrier frequency fc is illustrated using Fig. 8, is saved herein
Slightly.
After reading carrier frequency fc in step S209, S210, the loss of operation first switch are entered step
The aggregate-value of E_Loss1 and second switch loss E_Loss2.
The aggregate-value ∑ E_Loss1 of first switch loss is the loss of normally opened element, therefore utilizes and calculated by step S207
Conduction time of first switch loss E_Loss1 find out, conduction time using the flow chart of Fig. 5 control period (such as 10 μ
Sec aggregate-value ∑ E_Loss1) is calculated.Its calculating formula is for example following shown.
∑ E_Loss1 (n)=∑ E_Loss1 (n-1)+(E_Loss1 × control period) ... (formula 1)
The aggregate-value ∑ E_Loss2 of second switch loss is due to carrying out switch motion, it is therefore desirable to during finding out control week
On-off times, which can find out according to control period and carrier frequency fc, therefore second switch loss is accumulative
Value ∑ E_Loss2 can be found out according to following formula.
∑ E_Loss2 (n)=∑ E_Loss2 (n-1)+(E_Loss2 × (control period/carrier frequency fc) ... (formula
2)
In addition, the calculating of the aggregate-value of the first, second switching loss is as follows during aftermentioned element switching determination F2 is not set up
Shown in stating.
∑ E_Loss1 (n)=∑ E_Loss1 (n-1)-(E_Loss1 × control period-(E_Loss1 × (control week
Phase/carrier frequency fc)) ... (formula 3)
∑ E_Loss2 (n)=∑ E_Loss2 (n-1)+(E_Loss2 × control period) ... (formula 4)
In addition, calculating the aggregate-value of the first, second switching loss by following formula during element is switched and determined F2 establishment.
∑ E_Loss1 (n)=∑ E_Loss1 (n-1)+(E_Loss1 × control period) ... (formula 5)
∑ E_Loss2 (n)=∑ E_Loss2 (n-1)-(E_Loss2 × control period-(E_Loss2 × (control week
Phase/carrier frequency fc)) ... (formula 6)
The loss that the loss aggregate-value ∑ E_Loss1 and second switch element of first switching element are calculated in step S210 is tired
After evaluation ∑ E_Loss2, S211 is entered step, whether the loss aggregate-value calculated some is greater than by specified value β sentences
It is fixed.Specified value β is set according to the electric current of the torque capacity circulation with motor 4.
When step S211 is is that (Yes) determines, S212 is entered step, normally opened element change flag F 1 is set as 1 and is returned,
When determining for no (No), specified value β is had not yet been reached in loss aggregate-value, therefore returns.
Fig. 7 is to indicate that the loss of the S205 of Fig. 5 calculates the flow chart of the performed operation process handled of element retrieval.
In Fig. 7, firstly, step S301 reads electrical angle θ, S302 is entered step, if electrical angle θ is in step S302
The range of θ 1 to θ 2 enters step S303, when determining for no (No), enters step S306 then to be that (Yes) determines.
It whether is then that 2/2 or less θ determines to electrical angle θ, if step S303 is yes after entering step S303
(Yes) determine, then enter step S304, switch element 3Q4 and 3Q5 become loss and calculate element, will calculate component information I_m and set
It is 1.When step S303 is that no (No) determines, S305 is entered step, switch element 3Q4 and 3Q1 become loss and calculate element, will calculate
Component information I_m is set as 2 and returns out.
Herein, it is set for the θ 1 to θ 7 of the judgement of electrical angle range according to 1 period (360 degree) of electrical angle, from θ
1=0 degree start to increase every time 60 degree be set to θ 6 until, and be set as θ 7=359 degree.
When step S302 is that no (No) determines, S306 is entered step, the range of θ 2 to θ 3 then whether is in electrical angle θ
Inside determined, when determining for no (No), enter step S310, when to be that (Yes) determines, entered step S307, entering step
It whether is that 3/2 or less θ determines to electrical angle θ after S307.
When step S307 is is that (Yes) determines, S308 is entered step, calculating component information I_m becomes 3, and will calculate
Element is determined as 3Q1 and 3Q4, and after step S307 enters step S309 for no (No) judgement, calculating component information I_m becomes 4,
And it is determined as 3Q1 and 3Q6 by element is calculated, is then returned.
Hereinafter, successively updating according to electrical angle θ and calculating component information I_m, and determine to calculate element.
Fig. 8 be indicate Fig. 3 S14 performed by carrier frequency selecting unit 17 operation process flow chart.
In Fig. 8, in carrier frequency selecting unit 17, firstly, being determined driving method (referring to figure in step S401
5).If be set as in step S401 two-phase modulation, for be (Yes) determine and enter step S402, for no (No) judgement be
When being set as three-phase modulations, S404 is entered step, carrier frequency fc is set as specified value γ and is returned.
Herein, it is specified that value γ is carrier frequency fc when common three-phase modulations drive, found out in advance by experiment etc., example
Such as it is set as 7kHz.
When entering step S402, E_Loss1 is lost in reading element, enters step S403.After entering step S403, according to member
Part loss and the relationship of carrier frequency fc set carrier frequency fc.The relationship of element loss and carrier frequency fc are shown in Fig. 9
Relationship sets carrier frequency fc corresponding with element loss E_Loss1, then returns.
Figure 10 be indicate Fig. 3 S15 performed by switching signal generation unit 14 operation process flow chart.
In Figure 10, in switching signal generation unit 14, firstly, step S501 reads electrical angle θ, normally opened element change label
F1, component information I_m and carrier frequency fc is calculated, enters step S502.After entering step S502, normally opened element is changed
Flag F 1 is determined.When normally opened element change flag F 1 is zero in step S502, to be that (Yes) determines and enter step
S503, when normally opened element change flag F 1 is 1, for no (No) determines and enters step S505.
In step S502, no matter driving method is three-phase modulations or two-phase modulation, and normally opened element change flag F 1 is not
When setting up (F1=0), S503 is entered step, F2 then is switched and determined to element and is determined.
It is the judgement set in later-mentioned step S508 or S511 that the element, which is switched and determined F2, and normally opened element change flag F 1 is not
It sets up invalid when (F1=0).
When step S503 is is that (Yes) determines, S504 is entered step, switchs corresponding with selected driving method is generated
Signal and return.
On the other hand, when step S503 is that no (No) determines, aftermentioned generation switching signal has been switched, has not changed the generation and open
OFF signal, therefore return.
Step S502 is no (No) judgement, when entering step S505, reads mapping data according to component information I_m is calculated
map(θ).Switching signal change of the mapping data for setting in later-mentioned step S507, makes shown in Figure 11 according to electrical angle θ
Relationship map is simultaneously set.
Then, after entering step S506, F2 is switched and determined to element and is determined.When step S506 is is that (Yes) determines,
S507 is entered step, referring to the mapping map (θ) that step S505 is read, switching generates switching signal, enters step S508, will be first
Part is switched and determined F2 and is set as 1 and enters step S509.
On the other hand, when step S506 is that no (No) determines, normally opened element change flag F 1 has been set up (F1=0) and has been generated
Switching signal has switched completion, therefore enters step S510, switches to common switching signal and enters step S511, step
Element switching determination F2 is set as zero in S511 and enters step S509.
After entering step S509, switching signal step S507, is had changed in step S510, therefore normally opened element is changed and is marked
Note F1 is set as zero and returns.
Figure 11 indicates an example for the relationship map for making electrical angle θ and two-phase modulate switching signal switching when driving, table
Switching signal when element loss aggregate-value (∑ E_Loss1, ∑ E_Loss2) is more than specified value β when showing two-phase modulation driving is cut
An example changed.
Figure 12 is the movement for indicating each portion of control device of electric motor of the embodiment of the present invention 1 constituted as described above
The timing diagram of waveform.
In Figure 12, is reset in moment T1 brake information (B), even driver's release brake, be then judged to starting to walk to move
Work starts, and command torque (C) becomes defined creep torque value, then according to electrical angle θ (D), updates and calculates component information I_m
(E).If updating electrical angle θ (D) to be not up to 2 times or more, motor rotation speed (F) can not be calculated, therefore output order torque
(C) after, the driving method that selection is modulated using two-phase immediately, and U phase, V phase, each phase of W phase are exported according to electrical angle θ (D)
Voltage instruction (G).Further, since driving method of the selection using two-phase modulation, therefore carrier frequency fc is set as high frequency, passes through
It is compared with the phase voltage directive (G) of each phase, thus each self-generating switching signal (H), each switch element 3Q1~3Q6 starts
Switch motion generates driving force to motor 4.
Then, the motor rotation speed (F) of motor 4 is lower than specified value α and element loss aggregate-value (I) is zero, therefore
According to the switching loss (E_Loss1, E_Loss2) for calculating the component information operation element, start element loss aggregate-value (I)
Operation.In moment T1, normally opened element change flag F 1 and element are switched and determined F2 and are in invalid state (F1=0, F2=
0)。
Then, before moment T2, motor 4 is driven with the motor rotation speed (F) lower than specified value α, therefore
According to electrical angle θ (D), successively arithmetic element is lost, and element loss aggregate-value (I) (∑ E_Loss1, ∑ E_Loss2) gradually increases
Add.
After arrival time T2, electrical angle θ (D) stops updating, i.e., motor 4 becomes non-rotatable state, therefore calculates member
Part information I_m (E) becomes fixed value, and motor rotation speed (F) becomes zero, but element loss aggregate-value (I) continues operation.
Then, after arrival time T3, the first element loss aggregate-value ∑ E_Loss1 of element loss aggregate-value (I) is more than
Specified value β, therefore normally opened element change flag F 1 (J) is arranged to 1, is switched using the relationship of electrical angle θ (D) and Figure 11 to each
The switching signal (H) of switch element 3Q1~3Q6.
Then, if switching switching signal (H), element is switched and determined F2 and is arranged to 1, and switches and implement 3 quilt of flag F
It is set as 1, carries out element switching, therefore normally opened element change flag F 1 is reset to zero.If being cut to switching signal (H)
It changes, then element loss aggregate-value (∑ E_Loss1) gradually decreases, and element loss aggregate-value (∑ E_Loss2) gradually increases on the contrary
Add.
Then, after arrival time T4, then element loss aggregate-value (∑ E_Loss2) is more than specified value β, therefore normally opened member
Part change flag F 1 is again set to 1, when the switching signal (H) of each switch element 3Q1~3Q6 this time being switched to usual
The switching signal (H) of two-phase modulation driving.After the finishing switching of the switch motion of switch element 3Q1~3Q6, element is switched and determined
F2 is reset as zero, and normally opened element change flag F 1 is reset to zero.
As shown above, the control device of electric motor of embodiment 1 according to the present invention, have power conversion device and its
Control unit, the power conversion device are driven as follows, i.e., will be electric according to the movement of motor (rotation) state
The driving method of motivation is selected as the one of which of two-phase modulation driving and three-phase modulations driving, wherein control unit is with as follows
Mode is constituted：When motor is regulation rotation speed or less, according to the fortune of the setting of driving method and element loss calculated unit
It calculates as a result, being driven using two-phase modulation come driving power conversion equipment, and the switching loss for calculating power conversion device is larger
First switching element and second switch element loss, the loss aggregate-value of first switching element or second switch element is more than
When specified value, according to the switching signal for the mapping switching switching signal generation unit output being previously set, to switch switch element
Switch motion, therefore good result as shown below can be obtained.
(1) without the need for the temperature sensor of the temperature of detection power conversion device, it is able to suppress cost increase.
(2) when the two-phase that motor is in non-rotatable or extremely low fast rotation status modulates driving, if switch element
It is more than specified value that aggregate-value, which is lost, then by the switch motion of switching switch element, the temperature for being able to suppress switch element rises,
Therefore being able to suppress caused by rising with the temperature of switch element reduces the output power of motor, and can obtain can produce
The control device of electric motor of raw driving force corresponding with the operation of driver.
Industrial applicibility
The present invention as the control device of electric motor being carried on the electric vehicles such as hybrid vehicle or electric car and
It is useful.
Symbol description
1 MCU (motor control unit), 2 batteries,
4 motor, 5 angular sensors, 11 instruction current arithmetic elements,
12 command voltage arithmetic elements, 13 two-phases turn three-phase inversion unit,
14 switching signal generation units, 15 rotation angle processing units,
16 driving methods setting and element loss calculated unit,
17 carrier frequency selecting units, 18 three-phases turn two-phase converting unit,
30 power conversion devices, 31 smoothing capacity devices, 32 voltage sensors,
33,34,35 current sensors, 3Q1~3Q6 switch element,
100 control unit for vehicle.
Claims (3)
1. a kind of control device of electric motor, which has：DC power supply, the direct current power supply direct current；
Power conversion device, the power conversion device are made of switch element, and the switch for controlling generated switch element by PWM is dynamic
Make, converting direct-current power into alternating-current power that the DC power supply is exported and to motor；And control unit, the control list
Member controls the driving of the power conversion device, which is characterized in that
Described control unit has：
Rotate the electrical angle θ and rotation speed Nm of angle processing unit, the rotation angle processing unit operation and output motor；
Driving method setting and element loss calculated unit, driving method setting and element loss calculated unit use the rotation
The electrical angle θ and rotation speed Nm of gyration processing unit output sets the driving method of the power conversion device, and
The loss of each switch element of power conversion device described in operation and switching loss aggregate-value；
Carrier frequency selecting unit, carrier frequency selecting unit selection basis is set by the driving method and element loss is calculated
Unitary operation obtains out driving method and element loss and the carrier frequency of carrier signal set；And
Switching signal generation unit, which sets according to the driving method and element loss calculates list
The information that first, the described carrier frequency selecting unit, the rotation angle processing unit and command voltage provide, generation make institute
The switching signal for stating switch element movement exports the switching signal to the power conversion device,
When the motor is regulation rotation speed or less, according to the operation result of described control unit, is modulated and driven using two-phase
It moves to drive the power conversion device, and calculates the damage of switching loss biggish first switching element and second switch element
When the loss aggregate-value of consumption, the first switching element or the second switch element is more than specified value, according to what is be previously set
Mapping switches the switching signal of the switching signal generation unit output, to switch the switch element in the power conversion device
The switch motion.
2. control device of electric motor as described in claim 1, which is characterized in that the specified value of the loss aggregate-value is according to most
The electric current to circulate when big torque is set.
3. control device of electric motor as described in claim 1, which is characterized in that two-phase modulation driving when carrier frequency according to
The loss of the first switching element and set.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2014/063341 WO2015177863A1 (en) | 2014-05-20 | 2014-05-20 | Electric motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106464171A CN106464171A (en) | 2017-02-22 |
| CN106464171B true CN106464171B (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201480079092.5A Active CN106464171B (en) | 2014-05-20 | 2014-05-20 | Control device of electric motor |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US9680407B2 (en) |
| JP (1) | JP6113357B2 (en) |
| CN (1) | CN106464171B (en) |
| DE (1) | DE112014006685T5 (en) |
| WO (1) | WO2015177863A1 (en) |
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| JP6183333B2 (en) * | 2014-11-07 | 2017-08-23 | トヨタ自動車株式会社 | Hybrid car |
| JP6217667B2 (en) * | 2015-02-19 | 2017-10-25 | 株式会社豊田自動織機 | Electric compressor |
| JP6282331B1 (en) * | 2016-10-31 | 2018-02-21 | 三菱電機株式会社 | Power converter |
| JP6963495B2 (en) * | 2017-12-22 | 2021-11-10 | サンデンホールディングス株式会社 | Power converter |
| JP6937708B2 (en) * | 2018-02-21 | 2021-09-22 | 日立Astemo株式会社 | Motor control device and electric vehicle system using it |
| JP7198028B2 (en) * | 2018-10-01 | 2022-12-28 | ローム株式会社 | Driver device |
| KR102699008B1 (en) * | 2019-08-30 | 2024-08-26 | 현대자동차주식회사 | System and method for increasing temperature of battery |
| CN117458949B (en) * | 2023-12-21 | 2024-03-22 | 浩智科技电驱(桐城)有限公司 | Motor control system, control method and control device thereof, and storage medium |
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| JP5309232B2 (en) * | 2012-02-01 | 2013-10-09 | ファナック株式会社 | PWM rectifier for driving a motor having a modulation type selection unit |
-
2014
- 2014-05-20 CN CN201480079092.5A patent/CN106464171B/en active Active
- 2014-05-20 US US15/109,473 patent/US9680407B2/en active Active
- 2014-05-20 WO PCT/JP2014/063341 patent/WO2015177863A1/en active Application Filing
- 2014-05-20 DE DE112014006685.0T patent/DE112014006685T5/en active Pending
- 2014-05-20 JP JP2016520842A patent/JP6113357B2/en active Active
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| JP2006174659A (en) * | 2004-12-17 | 2006-06-29 | Equos Research Co Ltd | Motor controller |
| CN101188387A (en) * | 2006-11-22 | 2008-05-28 | 株式会社日立制作所 | Electric power conversion device |
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Also Published As
| Publication number | Publication date |
|---|---|
| WO2015177863A1 (en) | 2015-11-26 |
| JP6113357B2 (en) | 2017-04-12 |
| CN106464171A (en) | 2017-02-22 |
| US9680407B2 (en) | 2017-06-13 |
| US20160329856A1 (en) | 2016-11-10 |
| JPWO2015177863A1 (en) | 2017-04-20 |
| DE112014006685T5 (en) | 2017-02-09 |
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